CN108309456B - A quick-change mechanism for control decoupling of a single-port surgical robot - Google Patents
A quick-change mechanism for control decoupling of a single-port surgical robot Download PDFInfo
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- CN108309456B CN108309456B CN201810177472.2A CN201810177472A CN108309456B CN 108309456 B CN108309456 B CN 108309456B CN 201810177472 A CN201810177472 A CN 201810177472A CN 108309456 B CN108309456 B CN 108309456B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The invention discloses a quick-change mechanism for controlling decoupling of a single-hole surgical robot, which consists of a first joint driving mechanism, a second joint driving mechanism, a third joint driving mechanism, a fourth joint driving mechanism, a fifth joint driving mechanism, a sixth joint driving mechanism, a seventh joint driving mechanism, an eighth joint driving mechanism, a base shell, a base outer cover, a connecting piece, a locking mechanism and the like. The control decoupling is adopted by the surgical instrument driving mechanism, so that the problem of mutual motion coupling generated when each joint of the surgical instrument actuating mechanism swings is completely solved, and the structural design of the surgical instrument actuating mechanism can be simplified by decoupling according to the control principle, thereby being beneficial to mass production of the surgical instrument actuating mechanism. The quick-change mechanism for controlling and decoupling the single-hole surgical robot has the advantages of convenience in disassembly and assembly, easiness in adjustment, accuracy in positioning, high rigidity, reasonable layout, miniaturization and light weight.
Description
Technical Field
The invention relates to medical equipment in the field of minimally invasive surgery, in particular to a quick-change mechanism of a minimally invasive surgical single-hole surgical robot suitable for minimally invasive surgery operation of thoracic and abdominal cavities.
Background
Minimally invasive surgery represented by laparoscopy is known as one of important contributions of medical science to human civilization in the 20 th century, and minimally invasive surgery refers to surgery performed by a doctor penetrating into the body through a tiny incision in the surface of the human body by means of an elongated surgical instrument. Compared with the traditional open surgery, the traditional open surgery has the advantages of small surgical incision, small bleeding amount, small postoperative scar, quick recovery time and the like, and achieves the same curative effect as the traditional open surgery. The manual minimally invasive surgical instruments are passive forms of operation, typically with only one degree of freedom of movement at the distal end. In the operation process, a doctor applies a drive to realize the action of the tail end instrument by fingers, and various complex operations including suturing and knotting are smoothly finished by the movement flexibility of the arm and the wrist of the doctor. However, with respect to the auxiliary minimally invasive surgical robot system, since the operation of the surgical instrument is performed by the robot, the robot system itself does not have flexibility of human operation. Therefore, higher requirements are put on the design of surgical instruments dedicated to minimally invasive surgical robots. In order to meet the requirements of minimally invasive surgery, the surgical instrument is designed to meet the requirements of small volume, flexible operation, various forms, convenient installation with a robot arm, sufficient rigidity and strength, suitability for medical environment requirements (such as multiple disinfection) and the like. In particular, the surgical instrument has more degrees of freedom to meet the flexibility requirement so as to be suitable for complex surgical operations such as suture knot tying and the like.
In the minimally invasive surgical robot operation process, the surgical tool is the only part in contact with the pathological tissues of the human body and is also the robot part for directly performing the surgical operation, so that the performance of the surgical tool is the key point of the comprehensive performance of the minimally invasive surgical robot system. In order to meet the requirements of modern minimally invasive surgery, the design of the surgical tool should meet the requirements of exquisite structure, flexible operation, various forms, easy replacement, suitability for medical environment and the like, and particularly the surgical tool should have more degrees of freedom to meet the flexibility requirement and be easy to replace to realize complex surgical operation. Therefore, the performance of the surgical instrument matched with the surgical tool is also an important component of the comprehensive performance of the minimally invasive surgical robot system, and the performance index of the surgical instrument not only influences the use of the surgical tool, but also directly determines the design index and layout mode of the body system. In summary, the performance of the surgical tool and quick-change device is a key factor in representing the overall performance level of the surgical robotic system.
Internationally, a plurality of prototypes in the field of minimally invasive surgical robot system research reach the level of commercial clinical application, including da Vinci, zeus, LAPROTEK systems and the like. The development of surgical robotic systems has been studied to find that surgical tool systems are mainly composed of tool parts and quick-change devices. The development trend of the tool part is that the structure of the tool part is simplified more and more, the function of the tool part is more and more powerful, the quick-change device is gradually developed to be compact and integrated, and the performance of the quick-change device is more and more efficient and stable. The existing two sets of commercial minimally invasive surgical robots are four-degree-of-freedom surgical tool systems adopting wire transmission, but the surgical tool systems still have the defects of scattered structural layout, larger external dimensions and the like, so the surgical tool systems still have great development potential.
In China, the research and development of the minimally invasive surgical single-hole surgical robot is still in a starting stage, and particularly, the research on a surgical tool system is greatly different from that of foreign technologies, so that the development of a wire-driven, multi-degree-of-freedom surgical tool and a matched quick-change device with more stable and efficient performance has important significance for filling domestic blank and promoting technical progress in related fields. The research and development of the multi-degree-of-freedom surgical tool system with different silk transmission forms and quick-change modes compared with the existing system has profound significance for improving academic and technical status of China in the scientific research field.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a miniature and light quick-change mechanism for controlling and decoupling of a minimally invasive single-hole surgical robot, which is convenient to assemble and disassemble, easy to adjust, accurate in positioning, high in rigidity and reasonable in layout, and can clamp a surgical tool to assist a doctor to perform minimally invasive single-hole surgical operation.
The invention provides a control decoupling quick-change mechanism for a minimally invasive single-hole surgical robot, which is convenient to assemble and disassemble, easy to adjust, accurate in positioning, high in rigidity, reasonable in layout, small in weight, and the specific scheme is as follows:
A quick-change mechanism for controlling decoupling of a minimally invasive surgical single-hole surgical robot comprises a fixed seat, wherein a first joint driving mechanism, a second joint driving mechanism, a third joint driving mechanism, a fourth joint driving mechanism, a fifth joint driving mechanism, a sixth joint driving mechanism, a seventh joint driving mechanism and an eighth joint driving mechanism are arranged on the fixed seat;
the first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are arranged on the same base, and the first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are respectively connected with the surgical execution instrument through an interface clutch disc;
The first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms correspondingly drive the first, second, third, fourth, fifth, sixth, seventh and eighth joint executing mechanisms of the surgical instrument executing mechanism M to rotate respectively through steel wire ropes;
The first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms have the same structure and respectively comprise a motor, the motor drives a transmission shaft to rotate, and the transmission shaft is connected with a corresponding interface clutch disc;
further, two ends of the transmission shafts of the first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are axially fixed through bearings, and the bearings are fixed on the base.
Further, the sections of the transmission shafts of the first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are in a D shape, and the transmission shafts are circumferentially fixed through the sections of the D shapes.
Further, the first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are arranged in series in sequence in a single row on the base, and the seventh joint driving mechanism and the eighth joint driving mechanism are arranged in parallel with the sixth joint driving mechanism on the base.
Further, the interface base include base casing and base dustcoat, base casing on be equipped with twice location boss, base casing both sides face is equipped with two long bolt holes respectively, long bolt hole link to each other with the base dustcoat.
Furthermore, the two base covers are respectively arranged and fixed on two sides of the base shell, the upper surface of the base cover is provided with a guide chute, the top end of the guide chute is in a horn mouth shape so as to facilitate the installation of the surgical instrument executing mechanism, the tail end of the guide chute and the bottom of the middle part of the guide chute are in an arc shape, the opening directions of the tail end of the guide chute and the bottom of the middle part of the arc chute are perpendicular to the axial direction of the guide chute, and the tail end of the arc-shaped guide chute and the bottom of the middle part of the guide chute are in interference fit with a fixed pin roll of the surgical instrument executing mechanism so as to prevent the fixed pin roll of the surgical instrument executing mechanism from sliding out from the tail end of the guide chute and the bottom of the middle part of the guide chute on the base cover, thereby leading the surgical instrument executing mechanism to be separated from the quick-change mechanism;
Furthermore, the surgical instrument actuating mechanism can be arranged on the quick-change mechanism along the guide chute on the base housing, two long bolt holes are designed on the base housing, the two long bolt holes on the base housing are perpendicular to the long hole axis of the long bolt hole on the base housing, and the installation relative position of the base housing and the base housing can be conveniently adjusted when the base housing is installed and fixed on the base housing.
Furthermore, the quick-change mechanism interface base for the minimally invasive surgical single-hole surgical robot further comprises a locking mechanism for fixing the surgical instrument executing mechanism on the interface base, each locking mechanism comprises two groups, each group comprises a locking hook, one end of each locking hook is rotatably arranged on the same base outer cover, the other end of each locking hook is provided with a groove, a boss is arranged at a corresponding position on a surgical instrument executing mechanism shell, and the grooves on the locking hooks are matched with the bosses at the corresponding positions on the surgical instrument executing mechanism shell to fix the surgical instrument executing mechanism.
The beneficial effects are that:
compared with the prior art, the quick-change mechanism for controlling decoupling of the minimally invasive surgery single-hole surgical robot has the following beneficial effects:
1. the quick-change mechanism for controlling and decoupling the minimally invasive surgical single-hole surgical robot is convenient to assemble and disassemble, easy to adjust, accurate in positioning, high in rigidity, reasonable in layout, small in size and light in weight.
2. The surgical instrument quick-change mechanism adopts control decoupling, and the problem of mutual motion coupling generated when each joint of the surgical instrument actuating mechanism swings is completely solved.
3. Through adjusting the relative mounted position between base dustcoat and the base casing, can adjust the relative mounted position between the interface clutch disc on the guide chute on the base dustcoat and the base casing to when making surgical instrument actuating mechanism M install quick change mechanism N, interface clutch disc on the surgical instrument actuating mechanism M can cooperate the transmission in place just with the interface clutch disc on the base casing, can not lead to interface clutch disc on the surgical instrument actuating mechanism M and the interface clutch disc on the base casing unable cooperation because of interfering.
4. The top of the guide chute on the cutter holder outer cover is made into a horn mouth, so that the surgical instrument executing mechanism M is more convenient and quicker to install into the quick-change mechanism N, the curve of the guide chute can ensure that the cutter driving disc naturally slides to be abutted without interference, and the tail end of the guide chute and the bottom of the middle part of the guide chute adopt interference fit, so that the relative installation position of the surgical instrument executing mechanism M and the quick-change mechanism N can be accurately positioned. The surgical instrument executing mechanism M is installed and taken in and removed from the front upper side of the quick change mechanism N, accords with the customary operation direction, and reduces the installation and removal difficulty.
5. The hook locking mechanism can accurately and reliably fix the surgical instrument executing mechanism M on the quick-change mechanism N, and can conveniently lock and unlock the surgical instrument executing mechanism M.
6. The interface clutch disc on the quick-change mechanism N adopts single-row arrangement, so that the force arm between the fixed points of the surgical instrument executing mechanism M on the interface base is longer, and the fixation of the surgical instrument executing mechanism M on the interface base is more favorable for ensuring.
7. The interface clutch disc on the quick-change mechanism N is arranged in a single row, and the motors and the interface clutch disc are coaxially arranged, so that the motors of the second joint driving mechanism, the third joint driving mechanism, the fourth joint driving mechanism, the fifth joint driving mechanism, the sixth joint driving mechanism, the seventh joint driving mechanism and the eighth joint driving mechanism can be arranged in a single row, the possibility of interference when a plurality of quick-change mechanisms act cooperatively is reduced, and the space arrangement is reasonable.
8. The quick-change mechanism N is used for controlling decoupling, and the decoupling mechanism is not designed on the surgical instrument executing mechanism M, so that the structural design of the surgical instrument executing mechanism M can be simplified, and the mass production of the surgical instrument executing mechanism M is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly introduced below, it being obvious that the drawings in the following description are not necessarily to scale, but merely exemplary of the present invention, the drawings described below are only some embodiments of the present invention and not limiting the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a right side schematic view of a dual-head instrument decoupling structure of a quick-change mechanism for controlling decoupling of a minimally invasive surgical single-hole surgical robot of the present invention.
Fig. 2 is a schematic front view of a dual-head instrument decoupling structure of a quick-change mechanism for controlling decoupling of a minimally invasive surgical single-hole surgical robot.
Fig. 3 is a schematic top view of a dual-head instrument decoupling structure of a quick-change mechanism for controlling decoupling of a minimally invasive surgical single-hole surgical robot of the present invention.
Fig. 4 is a schematic front view of a decoupling structure of a single-head instrument for a quick-change mechanism for controlling decoupling of a minimally invasive surgical single-hole surgical robot.
Fig. 5 is a right side view schematic of an assembly of a quick-change mechanism and an instrument actuator for control decoupling of a minimally invasive surgical single-hole surgical robot of the present invention.
Fig. 6 is an assembled front view schematic diagram of a quick-change mechanism and instrument actuator for control decoupling of a minimally invasive surgical single-hole surgical robot of the present invention.
Fig. 7 is an assembled top view schematic of a quick-change mechanism and instrument actuator for control decoupling of a minimally invasive surgical single-hole surgical robot of the present invention.
Fig. 8 is a schematic view of a base housing structure of a quick-change mechanism for controlling decoupling of a minimally invasive surgical single-hole surgical robot.
Fig. 9 is a schematic front view of a second embodiment of a dual-head instrument decoupling structure for a quick-change mechanism for controlling decoupling of a minimally invasive surgical single-hole surgical robot.
Fig. 10 is a schematic front view of a second structure of an embodiment of a decoupling structure of a single-head instrument for a quick-change mechanism for controlling decoupling of a minimally invasive surgical single-hole surgical robot.
Fig. 11 to 13 are partial enlarged views of fig. 5.
Fig. 14-15 are partial enlarged views of fig. 6.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The explanation of the reference numerals is specifically omitted among the reference numerals described below: 1_7 to 8_1 are represented by: 1_7, 2_1, 3_1, 4_1, 5_1, 6_1, 7_1, 8_1, 1_8 to 8_2 are represented by: the numbers 1_8, 2_2, 3_2, 4_2, 5_2, 6_2, 7_2 and 8_2, the numbers 1_9 to 8_3 represent 1_9, 2_3, 3_3, 4_3, 5_3, 6_3, 7_3 and 8_3, the numbers 2_1 to 8_1 represent 2_1, 3_1, 4_1, 5_1, 6_1, 7_1 and 8_1, the numbers 1_4 to 8_4 represent 1_4, 2_4, 3_4, 4_4, 5_4, 6_4, 7_4 and 8_4, the numbers 2_4 to 8_4 represent 2_4, 3_4, 4_76, 6_4, 7_4 and 8_4, the numbers 1_5 and 8_5 represent 1_5, 2_5, 4_5, 5, 5_5, 6_5, 7_5, 8_5, 6_6, 1_4, 3_4, and 386_3 to 8_4, and 383 to 8_4, and 386_3 to 8_3, and 386_3 to 8, and 3 to 8.
Example 1
The control decoupling quick-change mechanism for the minimally invasive single-hole surgical robot according to the present embodiment is described with reference to fig. 1 to 3, 5 to 8, and 11 to 15, and includes a fixing seat 1_1, and a first joint driving mechanism 1, a second joint driving mechanism 2, a third joint driving mechanism 3, a fourth joint driving mechanism 4, a fifth joint driving mechanism 5, a sixth joint driving mechanism 6, a seventh joint driving mechanism 7, an eighth joint driving mechanism 8, and the like, which are mounted on the fixing seat 1_1.
The first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 are arranged on the same base 1_3, and the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 are respectively connected with the surgical instrument executing mechanism M through an interface clutch disc 1_4-8_4;
The first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 correspondingly drive the rotation of the first joint executing mechanism 9, the second joint executing mechanism 10, the third joint executing mechanism 11, the fourth joint executing mechanism 12, the fifth joint executing mechanism 13, the sixth joint executing mechanism 14, the seventh joint executing mechanism 15 and the eighth joint executing mechanism 16 of the surgical instrument executing mechanism M through steel wire ropes respectively;
The first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 have the same structure, each motor comprises a motor 1_7-8_1, the motors 1_7-8_1 are connected with transmission shafts 1_9-8_3 through coupling 1_8-8_2, and the transmission shafts 1_9-8_3 are connected with interface clutch discs 1_4-8_4 corresponding to the transmission shafts;
Further, the two ends of the transmission shafts 1_9 to 8_3 of the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 are axially fixed through bearings 1_5 to 8_5 and bearings 1_6 to 8_6, and the bearings 1_5 to 8_5 and bearings 1_6 to 8_6 are fixed on the base 1_3.
Further, the D-shaped cross sections of the transmission shafts 1_9 to 8_3 of the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 form interference fit, and the transmission shafts 1_9 to 8_3 are circumferentially fixed through the D-shaped cross sections.
Further, the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 are sequentially arranged in series in a single row on the base 1_3, and the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 are arranged in parallel with the sixth joint driving mechanism 6 on the base 1_3.
Further, the interface base 1_3 includes a base housing 1_3_1 and a base housing 1_3_2, two positioning bosses are disposed on the base housing 1_3_1, two long bolt holes are respectively disposed on two sides of the base housing 1_3_1, and the long bolt holes are connected with the base housing 1_3_2.
Furthermore, the two base outer covers 1_3_2 are respectively arranged and fixed on two sides of the base shell 1_3_1, a guide chute is designed on the base outer cover 1_3_2, the top end of the guide chute is in a horn mouth shape so as to facilitate the installation of the surgical instrument executing mechanism M, the tail end of the guide chute and the bottom of the middle part of the guide chute on the base outer cover 1_3_2 are in an arc shape, the opening directions of the bottom of the arc-shaped chute at the tail end and the bottom of the middle part of the guide chute are perpendicular to the axial direction of the guide chute, and the tail end and the bottom of the middle part of the arc-shaped guide chute and the fixed pin shaft 1_3_4 of the surgical instrument executing mechanism M form interference fit to prevent the fixed pin shaft 1_3_4 of the surgical instrument executing mechanism M from sliding out from the tail end of the guide chute on the base outer cover 1_3_2 and the bottom of the middle part of the guide chute, so that the surgical instrument executing mechanism M and the quick-change mechanism N are separated;
Furthermore, the surgical instrument executing mechanism M can be installed on the quick-change mechanism N along a guide chute on the base housing 1_3_2, two long bolt holes are designed on the base housing 1_3_2, the two long bolt holes on the base housing 1_3_2 are perpendicular to the long bolt hole axes on the base housing 1_3_1, and the installation relative positions of the base housing 1_3_2 and the base housing 1_3_1 can be conveniently adjusted when the base housing 1_3_2 is installed and fixed on the base housing 1_3_1.
Further, the quick-change mechanism N for the minimally invasive surgery single-hole surgical robot comprises an interface base 1_3 and a locking mechanism 1_3_3 for fixing a surgical instrument executing mechanism M on the interface base 1_3, wherein each locking mechanism 1_3_3 comprises two groups, each group comprises a locking hook, namely a locking hook 1_3_3_1 and a locking hook 1_3_2, one end of each locking hook 1_3_1 and one end of each locking hook 1_3_2 are rotatably arranged on the same base housing 1_3_2, grooves are formed in the other ends of the locking hooks 1_3_3_1 and the locking hooks 1_3_3_2, bosses are formed in corresponding positions on the outer shell of the surgical instrument executing mechanism M, and the grooves on the locking hooks 1_3_1 and 1_3_2 are matched with the bosses on corresponding positions on the outer shell of the surgical instrument executing mechanism M to fix the surgical instrument executing mechanism M.
The first joint driving mechanism 1 may use a ball screw mechanism 1_2, may be a telescopic rod, or may be a lifting rod driven by hydraulic pressure, a cylinder, or the like, so long as the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7, the eighth joint driving mechanism 8, and the surgical instrument executing mechanism M can be axially moved along the axial direction of the first 9_2 arm section of the surgical instrument executing mechanism M relative to the fixed seat 1_1 fixedly connected with the first joint driving mechanism 1.
The working principle of the invention is as follows:
The interface clutch disc 1_4 of the first joint driving mechanism 1 rotates clockwise around the axis of the gear shaft 1_9, namely, the motor 1_7 on the first joint driving mechanism 1 is started to rotate the output shaft of the motor clockwise, so that the coupler 1_8 and the gear shaft 1_9 on the first joint driving mechanism 1 are driven to rotate clockwise, and the interface clutch disc 1_4 on the first joint driving mechanism 1 is driven to rotate clockwise around the axis of the gear shaft 1_9. The first arm segment 9_2 of the surgical instrument actuator M is actively rotated clockwise relative to the end-effector junction box 1_10 to change the relative angle between the first arm segment 9_2 and the end-effector junction box 1_10.
Simultaneously, the motor 2_1 on the second joint driving mechanism 2 is started to enable the output shaft to rotate clockwise, so that the coupler 2_2, the transmission shaft 2_3 and the interface clutch disc 2_4 on the second joint driving mechanism 2 are driven to rotate clockwise, the first joint 9_1 swings clockwise and the second joint 10_1 swings clockwise at the same time, the proper proportion is set, the second joint 10_1 and the first joint 9_1 are enabled to rotate clockwise with equal rotating speed, when the relative included angle of the first arm segment 9_2 of the surgical instrument executing mechanism M relative to the end transmission box connecting sleeve 1_10 changes, the first arm segment 9_2 relative to the end transmission box connecting sleeve 1_10 does not change, the passive swing of the second arm segment 10_2 relative to the first arm segment 9_2 does not change, and the relative included angle of the second arm segment 10_2 and the first arm segment 9_2 does not change, so that the aim of decoupling is achieved through control.
Meanwhile, the motor 3_1 on the third joint driving mechanism 3 is started to enable the output shaft of the motor to rotate clockwise, the coupler 3_2, the transmission shaft 3_3 and the interface clutch disc 3_4 on the third joint driving mechanism 3 are driven to rotate clockwise, the second joint 10_1 swings clockwise while the third joint 11_1 swings clockwise, the proper proportion is set, the third joint 11_1 and the first joint 9_1 are enabled to turn the same, the rotating speed is equal, the first arm section 9_2 of the surgical instrument executing mechanism M swings clockwise relative to the end transmission box connecting sleeve 1_10 actively, when the relative included angle of the first arm section 9_2 relative to the end transmission box connecting sleeve 1_10 is changed, the third arm section 11_2 does not swing passively relative to the second arm section 10_2, the relative included angle of the third arm section 11_2 and the second arm section 10_2 is not changed, and the purpose of 'decoupling' is achieved through control.
Meanwhile, the motor 4_1 on the fourth joint driving mechanism 4 is started to enable the output shaft of the motor to rotate clockwise, the coupler 4_2, the transmission shaft 4_3 and the interface clutch disc 4_4 on the fourth joint driving mechanism 4 are driven to rotate clockwise, the second joint 10_1 swings clockwise while the fourth joint 12_1 swings clockwise, the right proportion is set, the fourth joint 12_1 and the first joint 9_1 are enabled to turn the same, the rotating speed is equal, the first 9_2 of the surgical instrument executing mechanism M swings clockwise relative to the end transmission box connecting sleeve 1_10 actively, when the relative included angle of the first 9_2 of the arm segment relative to the end transmission box connecting sleeve 1_10 changes, the fourth 12_2 of the arm segment does not swing passively relative to the third 11_2 of the arm segment, the relative included angle of the fourth 12_2 of the arm segment does not change, and the aim of achieving 'decoupling' is achieved through control.
Simultaneously, the motor 5_1 on the fifth joint driving mechanism 5 is started to enable the output shaft to rotate clockwise, so that the coupler 5_2, the transmission shaft 5_3 and the interface clutch disc 5_4 on the fifth joint driving mechanism 5 are driven to rotate clockwise, the second joint 10_1 swings clockwise and the fifth joint 13_1 swings clockwise at the same time, the proper proportion is set, the fifth joint 13_1 and the first joint 9_1 are enabled to rotate clockwise with equal rotating speed, when the relative included angle of the arm section one 9_2 of the surgical instrument executing mechanism M relative to the end transmission box connecting sleeve 1_10 changes, the arm section one 9_2 relative to the end transmission box connecting sleeve 1_10 does not swing passively relative to the arm section four 12_2, the relative included angle of the arm section five 13_2 and the arm section four 12_2 does not change, and the aim of decoupling is achieved through control.
Simultaneously, the motor 6_1 on the sixth joint driving mechanism 6 is started to enable the output shaft to rotate clockwise, so that the coupler 6_2, the transmission shaft 6_3 and the interface clutch disc 6_4 on the sixth joint driving mechanism 6 are driven to rotate clockwise, the second joint 10_1 swings clockwise while the sixth joint 14_1 swings clockwise, the proper proportion is set, the sixth joint 14_1 and the first joint 9_1 are enabled to rotate clockwise with equal rotating speed, when the relative included angle of the arm section one 9_2 of the surgical instrument executing mechanism M relative to the end transmission box connecting sleeve 1_10 changes, the arm section one 9_2 relative to the end transmission box connecting sleeve 1_10 does not swing passively relative to the arm section five 13_2, the relative included angle of the arm section six 14_2 and the arm section five 13_2 does not change, and the aim of decoupling is achieved through control.
Simultaneously, the motor 7_1 on the seventh joint driving mechanism 7 is started to enable the output shaft to rotate clockwise, so that the coupler 7_2, the transmission shaft 7_3 and the interface clutch disc 7_4 on the seventh joint driving mechanism 7 are driven to rotate clockwise, the second joint 10_1 swings clockwise while the seventh joint 15_1 swings clockwise, the right proportion is set, the seventh joint 15_1 and the first joint 9_1 are enabled to turn the same, the rotating speed is equal, the first 9_2 of the surgical instrument executing mechanism M swings clockwise relative to the end transmission box connecting sleeve 1_10 actively, when the relative included angle of the first 9_2 of the arm segment relative to the end transmission box connecting sleeve 1_10 changes, the relative included angle of the seventh 15_2 of the arm segment relative to the sixth 14_2 does not change, and the relative included angle of the seventh 15_2 of the arm segment and the sixth 14_2 of the arm segment does not change, so that the aim of 'decoupling' is achieved through control.
Meanwhile, a motor 8_1 on the eighth joint driving mechanism 8 is started to enable an output shaft of the motor 8_1 to rotate clockwise to drive a coupler 8_2, a transmission shaft 8_3 and an interface clutch disc 8_4 on the eighth joint driving mechanism 8 to rotate clockwise, the second joint 10_1 swings clockwise and the eighth joint 16_1 swings clockwise at the same time, the proper proportion is set, the eighth joint 16_1 and the first joint 9_1 are identical in steering direction and equal in rotating speed, and when the relative included angle of the first arm segment 9_2 of the surgical instrument executing mechanism M relative to the end transmission box connecting sleeve 1_10 changes, the relative included angle of the first arm segment 9_2 relative to the end transmission box connecting sleeve 1_10 does not change, the relative included angle of the arm segment eighth 16_2 and the arm segment sixth 14_2 does not change, and the purpose of decoupling is achieved through control.
The interface clutch disc 1_4 of the first joint driving mechanism 1 realizes a counterclockwise rotation around the axis of the gear shaft 1_9. The counterclockwise rotation around the axis of the gear shaft 1_9 of the interface clutch disc 1_4 of the first joint driving mechanism 1 is the same as the clockwise rotation around the axis of the gear shaft 1_9 of the interface clutch disc 1_4 of the first joint driving mechanism 1 in a transmission line, and the directions are opposite.
The second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the interface clutch discs 2_4-6_4 of the sixth joint driving mechanism 6 realize clockwise rotation around the axes of the gear shafts 2_3-6_3: similar to the clockwise rotation of the interface clutch disc 1_4 of the first joint driving mechanism 1 around the axis of the gear shaft 1_9, the joint driving mechanism actively rotates, all the joint driving mechanisms behind the active rotation joint driving mechanism (the side close to the tail end joint (joint seven 15_1 and joint eight 16_1) of the surgical instrument executing mechanism M) actively rotate simultaneously, and the proper proportion is set, so that all the joint driving mechanisms behind the active rotation joint driving mechanism (the side close to the tail end joint (joint seven 15_1 and joint eight 16_1) of the surgical instrument executing mechanism M) are turned the same as the active rotation joint driving mechanism, the rotation speed is equal, the arm section of the surgical instrument executing mechanism M controlled by the active rotation joint driving mechanism is enabled to be rotated actively clockwise relative to the arm section of the previous adjacent arm section (the side far away from the tail end joint (joint seven 15_1 and joint eight 16_1) of the surgical instrument executing mechanism M), the included angle between the arm section of the active rotation joint executing mechanism M controlled by the active rotation joint driving mechanism M and the arm section of the previous adjacent arm section (the side far away from the tail end joint seven 15_1 and joint eight 16_1) of the surgical instrument executing mechanism M is changed relatively, the arm segment of the surgical instrument actuator M controlled by all the joint driving mechanisms at the back of the active rotary joint driving mechanism (the side close to the joint at the tail end of the surgical instrument actuator M (the side close to the joint at the tail end 15_1 and the joint at the tail end 16_1) does not swing passively relative to the arm segment of the surgical instrument actuator M controlled by the active rotary joint driving mechanism, so that the relative included angle between the arm segment of the surgical instrument actuator M controlled by all the joint driving mechanisms at the back of the active rotary joint driving mechanism (the side close to the joint at the tail end of the surgical instrument actuator M (the side close to the joint at the tail end 15_1 and the joint at the tail end 16_1) and the arm segment of the surgical instrument actuator M controlled by the active rotary joint driving mechanism) does not change, and the aim of 'decoupling' is achieved through control.
The axes of the interface clutch discs 2_4-6_4 of the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 around the gear shafts 2_3-6_3 realize anticlockwise rotation, wherein the axes of the interface clutch discs 2_4-6_4 of the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 around the gear shafts 2_3-6_3 realize anticlockwise rotation which is the same as the driving route of the clockwise rotation of the axes of the interface clutch discs 2_4-6_4 around the gear shafts 2_3-6_3 of the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the interface clutch discs 2_4-6_4 of the sixth joint driving mechanism 6 realize anticlockwise rotation, and the driving route is opposite to the clockwise rotation.
Starting a motor 7_1 on the seventh joint driving mechanism 7 to enable an output shaft of the motor 7_1 to rotate clockwise to drive a coupler 7_2, a transmission shaft 7_3 and the interface clutch disc 7_4 on the seventh joint driving mechanism 7 to rotate clockwise, and enabling an arm segment seven 15_2 of the surgical instrument executing mechanism M to actively swing clockwise relative to an arm segment six 14_2 to enable an arm segment seven 15_2 and an arm segment six 14_2 to change relative included angles.
The interface clutch disc 7_4 of the seventh joint driving mechanism 7 rotates anticlockwise around the axis of the sun gear shaft 7_3, namely the anticlockwise rotation of the interface clutch disc 7_4 of the seventh joint driving mechanism 7 around the axis of the sun gear shaft 7_3 is the same as the clockwise rotation of the interface clutch disc 7_4 of the seventh joint driving mechanism 7 around the axis of the sun gear shaft 7_3 by a transmission route, and the directions are opposite.
The interface clutch disc 8_4 of the eighth joint driving mechanism 8 rotates clockwise around the axis of the transmission shaft 8_3, namely, a motor 8_1 on the eighth joint driving mechanism 8 is started to enable an output shaft of the motor 8_1 to rotate clockwise, so that a coupler 8_2, a transmission shaft 8_3 and the interface clutch disc 8_4 of the eighth joint driving mechanism 8 are driven to rotate clockwise, and an arm segment eight 16_2 of the surgical instrument executing mechanism M actively swings clockwise relative to an arm segment six 14_2 to enable a relative included angle between the arm segment eight 16_2 and the arm segment six 14_2 to change.
The interface clutch disc 8_4 of the eighth joint drive mechanism 8 performs a counter-clockwise rotation about the axis of the sun gear shaft 8_3. The interface clutch disc 8_4 of the eighth joint drive mechanism 8 performs a counter-clockwise rotation about the axis of the sun gear shaft 8_3 in the same "transmission line" as the clockwise rotation about the axis of the sun gear shaft 8_3 of the interface clutch disc 8_4 of the eighth joint drive mechanism 8, and the opposite direction.
Adjustment of the relative mounting position between the base housing 1_3_2 and the base housing 1_3_1:
Two long bolt holes are designed on the base housing 1_3_2, two long bolt holes are respectively designed on two side surfaces of the base housing 1_3_1, the two long bolt holes on the base housing 1_3_2 are perpendicular to long bolt hole axes on the base housing 1_3_1, and when the two base housings 1_3_2 are fixed on the base housing 1_3_1, the installation relative positions of the base housing 1_3_2 and the base housing 1_3_1 can be adjusted by adjusting the relative fixed positions of the long bolt holes of the base housing 1_3_2 and the base housing 1_3_1.
Mounting and dismounting between the surgical instrument actuator M and the joint driving mechanism N:
When the surgical instrument executing mechanism M is installed in the joint driving mechanism N, the surgical instrument executing mechanism M slides into the tail end and the middle groove bottom of the guide sliding groove on the base housing 1_3_2 along the top end of the guide sliding groove in the shape of a horn mouth on the base housing 1_3_2, the tail end and the middle groove bottom of the guide sliding groove on the base housing 1_3_2 form interference fit with the fixed pin shaft of the surgical instrument executing mechanism M, and simultaneously the two locking hooks 1_3_1 and 1_3_2 on the two base housings 1_3_2 are respectively rotated, so that the grooves on the locking hooks 1_3_1 and 1_3_3_2 are matched with the bosses on the corresponding positions on the outer housing of the surgical instrument executing mechanism M, and the fixed pin shaft 1_3_4 of the surgical instrument executing mechanism M is prevented from sliding out of the guide sliding groove on the base housing 1_3_2, so that the surgical instrument executing mechanism M is separated from the joint driving mechanism N. Meanwhile, two positioning bosses on the base shell 1_3_1 can position and fix the surgical instrument executing mechanism M;
When the surgical instrument executing mechanism M is separated from the joint driving mechanism N, the two locking hooks 1_3_3_1 and 1_3_3_2 on the two base outer covers 1_3_2 are rotated respectively, so that the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 are separated from the bosses on the corresponding positions on the outer cover of the surgical instrument executing mechanism M, the surgical instrument executing mechanism M slides out of the base outer cover 1_3_2 from the top end of the guide chute on the base outer cover 1_3_2 and the bottom of the middle part of the guide chute in a horn shape, and the surgical instrument executing mechanism M is separated from the joint driving mechanism N.
Example 2
The present embodiment will be described with reference to fig. 9 to 10, in which the layout of the quick-change mechanism for controlling and decoupling the minimally invasive surgical single-hole surgical robot can be changed to the structure of fig. 9 to 10 based on the technical solution of the first embodiment. Namely, the layout of the quick-change mechanism for controlling and decoupling the minimally invasive surgical single-hole surgical robot in the technical scheme of the first embodiment is adjusted to the technical scheme of the second embodiment, and meanwhile, the layout of the transmission box of the surgical instrument executing mechanism M is also adjusted to the technical scheme of the second embodiment, so that the decoupling can be correctly driven and controlled.
The quick-change mechanism N for controlling and decoupling the minimally invasive surgery single-hole surgical robot can be applied to driving and controlling and decoupling of double-head instruments, such as clamping instruments and shearing instruments, and the eighth joint driving mechanism 8 of the quick-change mechanism for controlling and decoupling the minimally invasive surgery single-hole surgical robot is omitted, as shown in fig. 4, and the quick-change mechanism for controlling and decoupling the minimally invasive surgery single-hole surgical robot can be applied to driving and controlling and decoupling of single-head instruments, such as cutting instruments and 30-degree cavity mirror instruments. The seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 of the quick-change mechanism for controlling and decoupling the minimally invasive single-hole surgical robot are omitted, and the quick-change mechanism for controlling and decoupling the minimally invasive single-hole surgical robot can be applied to driving and controlling and decoupling 360-degree endoscopic instruments.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (9)
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| CN108451642B (en) * | 2018-03-02 | 2024-12-27 | 山东大学齐鲁医院 | A quick-change mechanism for mechanical decoupling of a single-port surgical robot |
| CN108942900B (en) * | 2018-10-12 | 2024-03-29 | 吉林大学 | Passive decoupling mechanism for joint motion of serial rope-driven manipulator |
| CN112043392B (en) * | 2020-09-30 | 2025-03-25 | 深圳市精锋医疗科技股份有限公司 | Surgical instruments, operating equipment and surgical robots |
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| CN104758060A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学 | Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery |
| CN106725650A (en) * | 2017-01-04 | 2017-05-31 | 山东大学齐鲁医院 | One kind is used for minimally invasive surgical operation robot quick-changing mechanism |
| CN208942371U (en) * | 2018-03-02 | 2019-06-07 | 山东大学齐鲁医院 | A kind of quick-changing mechanism of the control decoupling for single hole operating robot |
| CN208974100U (en) * | 2018-03-02 | 2019-06-14 | 山东大学齐鲁医院 | A Mechanically Decoupled Quick-Change Mechanism for Single-hole Surgical Robots |
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| KR100974464B1 (en) * | 2009-04-21 | 2010-08-10 | 주식회사 래보 | Coupling structure of surgical instrument |
| CN104970840B (en) * | 2015-07-16 | 2017-11-03 | 天津工业大学 | A kind of six degree of freedom silk transmission operating theater instruments for Minimally Invasive Surgery |
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| CN104758060A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学 | Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery |
| CN106725650A (en) * | 2017-01-04 | 2017-05-31 | 山东大学齐鲁医院 | One kind is used for minimally invasive surgical operation robot quick-changing mechanism |
| CN208942371U (en) * | 2018-03-02 | 2019-06-07 | 山东大学齐鲁医院 | A kind of quick-changing mechanism of the control decoupling for single hole operating robot |
| CN208974100U (en) * | 2018-03-02 | 2019-06-14 | 山东大学齐鲁医院 | A Mechanically Decoupled Quick-Change Mechanism for Single-hole Surgical Robots |
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